CN104528463B - A kind of drawing cable length accurate measurement method and isochronous controller - Google Patents

A kind of drawing cable length accurate measurement method and isochronous controller Download PDF

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Publication number
CN104528463B
CN104528463B CN201510030977.2A CN201510030977A CN104528463B CN 104528463 B CN104528463 B CN 104528463B CN 201510030977 A CN201510030977 A CN 201510030977A CN 104528463 B CN104528463 B CN 104528463B
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China
Prior art keywords
cable
winding
controller
speed
length
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CN201510030977.2A
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Chinese (zh)
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CN104528463A (en
Inventor
周广旭
张晓鹏
董杰
王平来
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山东省科学院自动化研究所
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Priority to CN201510030977.2A priority Critical patent/CN104528463B/en
Publication of CN104528463A publication Critical patent/CN104528463A/en
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Abstract

The invention discloses a kind of drawing cable length accurate measurement method and isochronous controller, speed is followed to set outside controller real-time sampling, and the logic control such as automatic, manual of system is realized according to control button and selecting switch, the information such as speed and the state of a control of folding and unfolding are shown in display unit;Then the winding radius signal of cable formation is obtained in real time by designed winding radius measurement apparatus;The pre-designed counting tooth of winder and proximity switch form windings signal;Above-mentioned two signal forms corresponding digital quantity signal by embedded controller, and cable winding speed is calculated using the triangle cosine law and additional arithmetic;The cable winding speed that calculates and external setting-up follow speed to carry out PID arithmetic, then the output of controller passes through digital quantity signal and analog signalses Interface Controller driver, by the speed of service of driver control motor, motor drags cable reel and realizes that winding speed is consistent with outside given speed again.

Description

A kind of drawing cable length accurate measurement method and isochronous controller

Technical field

The present invention relates to a kind of drawing cable length accurate measurement method and isochronous controller.

Background technology

In cable production process or some emergency lighting occasions are wound to cable.Sometimes for the line to being wound Cable carries out the accurate measurement and winding speed control of length.Because in cable winding process, cable is formed on cable reel Radius be continually changing, allow for spooling length and be difficult to accurate measurement.In emergency lighting occasion using mobile device to line Cable is wound, it is desirable to which winding speed is consistent with the speed of mobile device.Above-mentioned linear measure longimetry and synchronous with mobile device Winding only manually hardly results in higher precision, it is therefore desirable to a kind of automation equipment.

The content of the invention

The present invention is in order to solve the above problems, it is proposed that a kind of drawing cable length accurate measurement method and Synchronization Control Device, the present invention can realize the accurate measurement of drawing cable line length, ensure that cable winding speed is consistent with required speed.

To achieve these goals, the present invention adopts the following technical scheme that:

A kind of drawing cable length accurately measures isochronous controller, including motor, driver, cable reel, controller With winding radius measurement apparatus, wherein, controller connection winding radius measurement apparatus, winding radius measurement apparatus connection cables volume Disk, the outer of cable reel are provided with equally distributed multiple counting teeth, and proximity switch is arranged on cable reel edge, measures cable The number of teeth that rotation of reel is passed through, and the signal measured is transferred to controller, controller connection driver, driver driving electricity Motivation rotates, and motor drives cable reel to rotate.

The controller is provided with display module, for showing that outside follows setting speed, cable reel speed and reel fortune Row rate signal.

The controller is provided with input module.

Preferably, the input module is selecting switch or control button.

Winding radius and rotating cycle that the controller measures in real time according to the winding radius measurement apparatus of reception is counted Calculate the length of cable.

The cable reel is arranged on fixed support, and fixed support is provided with a triangle using A, B, R as three sides The center of circle of the lower summit cable reel of shape, wherein A sides, and come perpendicular to horizontal plane, the length a on A sides with the situation of winding cable Setting;B while upper summit overlapped with upper summit during A, the lower summit on B sides changes with cable winding radius, and B edge lengths are b, B The length b on side is adjusted according to different cable wound conditions, R be exactly in cable winding process with winding the volume of real-time change Around radius.

The fixed support is provided with angle measurement unit in the apex that two sides of A, B are formed, and by the angle of collection Signal is transferred to controller.

Preferably, the angle measurement unit is photoelectric encoder or rotary transformer.

Based on the measuring method of above-mentioned measurement apparatus, comprise the following steps:

(1) follow speed to set outside controller real-time sampling, and the automatic, manual of system is realized according to input module Logic control, the speed and state of a control information of folding and unfolding are shown in display unit;

(2) the winding radius signal of cable formation is obtained in real time by winding radius measurement apparatus, it is pre- according to cable reel If counting tooth and proximity switch form windings signal, two signals form corresponding digital quantity signal by controller, should Cable winding speed and total length are calculated with the triangle cosine law;

(3) the cable winding speed that calculates and external setting-up follow speed to carry out PID arithmetic, and then controller passes through Digital quantity signal and analog signalses Interface Controller driver output, by the speed of service of driver control motor, electricity Motivation drags cable reel and realizes that winding speed is consistent with outside given speed again.

In the step (2), according to the lower apex lines of the triangle on fixed support using A, B, R as three sides, wherein A sides The center of circle of cable reel 7, and perpendicular to horizontal plane, length a is set with the situation of winding cable, B while upper summit with it is upper during A Summit overlaps, and the lower summit on B sides is designed to be able to change with cable winding radius, and B edge lengths are b, and the length b on B sides is not according to It is adjusted with cable wound condition, R is equal in cable winding process with winding the winding radius of real-time change;In A, B two Bar angle angle signal α when the apex setting angle measurement apparatus formed measures A, B two in real time, and signal is transmitted To controller.

In the step (2), A, B, R are the triangle that three sides are formed, length of side a, b on A, B side be it is known, R be with Winding real-time change, A, B angle α forms signal of measuring in real time by the device, and by controller by more than triangle String formula (1) and (2) calculate, and formula (1) is the triangle cosine law, and formula (2) is to ask radius R formula (1) to deform:

Wherein:α --- A, B angle;

A --- side A length;

B --- side A length;

R --- winding radius R length.

In the step (2), the number of turns of winding is determined by measuring the number of teeth n passed through of cable reel, and is passed through Below equation calculates the total length of winding:

Wherein:L --- cable spooling length calculated value;

π --- pi;

R --- winding radius R length;

N --- calculate the number of teeth n passed through of cable reel in time interval;

Z --- cable reel speed counts the number of tooth.

Beneficial effects of the present invention are:

(1) winding radius measurement apparatus realizes the accurate measurement of drawing cable line length;

(2) controller realizes the automatically and manually control of cable winding according to control button and selecting switch;

(3) adjusted by the computing of correlation and PID, enable to cable winding speed consistent with required speed.

Brief description of the drawings

Fig. 1 drawing cable length accurate measurement methods and isochronous controller system block diagram.

Fig. 2 winding radius measurement apparatus and cable reel position measurement schematic diagram.

Wherein:1st, speed preset signal is followed;2nd, control button or selecting switch;3rd, embedded controller;4th, mould is shown Block;5th, driver;6th, motor;7th, cable reel;8th, winding radius measurement apparatus;9th, proximity switch.

Embodiment:

The invention will be further described with embodiment below in conjunction with the accompanying drawings.

Fig. 1 is drawing cable length accurate measurement method and isochronous controller system block diagram.Whole system is pressed including control Key or selecting switch 2, embedded controller 3, display module 4, driver 5, motor 6, cable reel 7, winding radius measurement Device 8, the grade of proximity switch 9 part composition.Embedded controller 3 connects winding radius measurement apparatus 8, winding radius measurement apparatus 8 connection cables reels 7, the outer of cable reel 7 are provided with equally distributed multiple counting teeth, and proximity switch 9 is arranged on cable volume The edge of disk 7, metering cable reel 7 rotates the passed through number of teeth, and the signal measured is transferred into embedded controller 3, embedded Formula controller 3 connects driver 5, and the drive motor 6 of driver 5 rotates, and motor 6 drives cable reel 7 to rotate.

The course of work of whole system is as follows:Controller obtains position and the control of selecting switch according to guidance panel first The state of button come determine the automatic or manual of system run, then obtain outside follow speed setting and the speed of cable reel 7 miss Difference forms reel running speed signal, and these signals are shown according to different requirements in display unit.Second step according to To driver, driver 5 carrys out drive motor 6 for above-mentioned logic state and velocity arithmetic output control signal, then by motor 6 To drag cable reel 7.The winding radius measurement apparatus of cable reel 7 formed real-time winding radius signal pass to it is embedded Controller 3.The pre-designed counting tooth of cable reel 7 and proximity switch form the position signalling of cable reel 7, and the signal enters insertion Formula controller 3.Controller calculates the length of cable according to the winding radius and the number of turns measured in real time.

Fig. 2 is winding radius measurement apparatus and cable reel velocity test schematic diagram.In the fixed branch of cable wire cable reel 7 The center of circle of a triangle, the wherein lower summit cable reel 7 on A side of the design using A, B, R as three sides on frame, and perpendicular to water Plane, length a can be set with the situation of winding cable.B while upper summit overlapped with upper summit during A, the lower summit on B sides It is designed to be able to change with cable winding radius, B edge lengths are b, and the length b on B sides can enter according to different cable wound conditions Row adjustment.R be exactly in cable winding process with winding the winding radius of real-time change.On the summit that two sides of A, B are formed Place's installation rotary encoder or the rotary transformer angularly real-time measurement angle signal alpha of measurement apparatus, and passing the signal along to Controller.Set around cable reel 7 and count tooth, the precision and different lines that the number z for counting tooth can be as requested Cable reel 7 changes, and measures the number of teeth n that cable reel 7 is passed through in real time by proximity switch, and pass the signal along to control Device.

It is the triangle that three sides are formed according to above-mentioned design A, B, R, length of side a, b on A, B side is known, and R is with volume Around real-time change.A, B angle α are can be by the device to form signal of measuring in real time, and passes through triangle by controller Shape cosine formula (1) and (2) calculate.The number of turns of winding can also be come really by measuring the number of teeth n passed through of cable reel It is fixed.The total length of winding can be calculated by formula (3) come accurate in real time.

Formula (1) is the triangle cosine law, and formula (2) is to ask radius R formula (1) to deform:

Wherein:α --- A, B angle;

A --- side A length;

B --- side A length;

R --- winding radius R length;

Formula (3) is the calculation formula of cable spooling length:

Wherein:L --- cable spooling length calculated value;

π --- pi;

R --- winding radius R length;

N --- calculate the number of teeth n passed through of cable reel in time interval;

Z --- cable reel speed counts the number of tooth.

Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, model not is protected to the present invention The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not Need to pay various modifications or deformation that creative work can make still within protection scope of the present invention.

Claims (8)

1. a kind of drawing cable length accurately measures isochronous controller, including motor, driver, cable reel, controller and Winding radius measurement apparatus, wherein, controller connection winding radius measurement apparatus, winding radius measurement apparatus connection cables volume Disk, the outer of cable reel are provided with equally distributed multiple counting teeth, and proximity switch is arranged on cable reel edge, measures cable The number of teeth that rotation of reel is passed through, and the signal measured is transferred to controller, controller connection driver;
The cable reel is arranged on fixed support, and fixed support is provided with a triangle knot using A, B, R as three sides The lower summit of structure, wherein A sides is the center of circle of cable reel, and perpendicular to horizontal plane, the length a on A sides is with the situation for winding cable To set;B while upper summit overlapped with upper summit during A, the lower summit on B sides changes with cable winding radius, and B edge lengths are b, The length b on B sides is adjusted according to different cable wound conditions, R be exactly in cable winding process with winding real-time change Winding radius;
The winding radius signal of cable formation is obtained in real time by winding radius measurement apparatus, according to the default counting of cable reel Tooth and proximity switch form windings signal, and two signals form corresponding digital quantity signal by controller, using triangle The cosine law calculates cable winding speed and total length;
The cable winding speed that calculates and external setting-up follow speed to carry out PID arithmetic, and then controller passes through digital quantity The output of signal and analog signalses Interface Controller driver, by the speed of service of driver control motor, motor drags again Moving-wire cable reel realizes that winding speed is consistent with outside given speed.
2. a kind of drawing cable length as claimed in claim 1 accurately measures isochronous controller, it is characterized in that:The controller The winding radius and rotating cycle that are measured in real time according to the winding radius measurement apparatus of reception calculates the length of cable.
3. a kind of drawing cable length as claimed in claim 1 accurately measures isochronous controller, it is characterized in that:The fixed branch Frame is provided with angle measurement unit in the apex that two sides of A, B are formed, and the angle signal of collection is transferred into controller.
4. a kind of drawing cable length as claimed in claim 3 accurately measures isochronous controller, it is characterized in that:The angle is surveyed It is photoelectric encoder or rotary transformer to measure device.
5. based on the measuring method of the measurement isochronous controller any one of claim 1-4, it is characterized in that:Including following Step:
(1) follow speed to set outside controller real-time sampling, and automatic, the manual logic of system is realized according to input module Control, the speed and state of a control information of folding and unfolding are shown in display unit;
(2) the winding radius signal of cable formation is obtained in real time by winding radius measurement apparatus, it is default according to cable reel Count tooth and proximity switch forms windings signal, two signals form corresponding digital quantity signal by controller, using three The angular cosine law calculates cable winding speed and total length;
(3) the cable winding speed that calculates and external setting-up follow speed to carry out PID arithmetic, and then controller passes through numeral The output of signal and analog signalses Interface Controller driver is measured, by the speed of service of driver control motor, motor is again Dragging cable reel realizes that winding speed is consistent with outside given speed.
6. measuring method as claimed in claim 5, it is characterized in that:In the step (2), according on fixed support with A, B, R For the triangular structure on three sides, wherein the lower summit on A sides is the center of circle of cable reel, and perpendicular to horizontal plane, length a is with volume Set around the situation of cable, B while upper summit overlapped with upper summit during A, the lower summit on B sides is designed to be able to roll up with cable Around radius change, B edge lengths are b, and the length b on B sides is adjusted according to different cable wound conditions, and R was wound equal to cable In journey with winding the winding radius of real-time change;It is real-time in the apex setting angle measurement apparatus that two sides of A, B are formed Two side angle angle signal α of A, B are measured, and pass the signal along to controller.
7. measuring method as claimed in claim 5, it is characterized in that:In the step (2), A, B, R are three that three sides are formed It is angular, length of side a, b on A, B side be it is known, R be with winding real-time change, A, B angle α by angle measurement unit come Signal of measuring in real time is formed, and is calculated by controller by triangle cosine formula (1) and (2), formula (1) is more than triangle String theorem, formula (2) are to ask radius R formula (1) to deform:
<mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;alpha;</mi> <mo>=</mo> <mfrac> <mrow> <msup> <mi>a</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>b</mi> <mn>2</mn> </msup> <mo>-</mo> <msup> <mi>r</mi> <mn>2</mn> </msup> </mrow> <mrow> <mn>2</mn> <mi>a</mi> <mi>b</mi> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>
<mrow> <mi>r</mi> <mo>=</mo> <msqrt> <mrow> <msup> <mi>a</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>b</mi> <mn>2</mn> </msup> <mo>-</mo> <mn>2</mn> <mi>a</mi> <mi>b</mi> <mi> </mi> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;alpha;</mi> </mrow> </msqrt> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>
Wherein:α --- A, B angle;
A --- side A length;
B --- side B length;
R --- winding radius R length.
8. measuring method as claimed in claim 5, it is characterized in that:In the step (2), the number of turns of winding is by measuring cable The number of teeth n passed through of reel calculates the total length wound to determine by below equation:
<mrow> <mi>L</mi> <mo>=</mo> <mn>2</mn> <mo>&amp;times;</mo> <mi>&amp;pi;</mi> <mo>&amp;times;</mo> <mi>r</mi> <mo>&amp;times;</mo> <mfrac> <mi>n</mi> <mi>z</mi> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>
Wherein:L --- cable spooling length calculated value;
π --- pi;
R --- winding radius R length;
N --- calculate the number of teeth n passed through of cable reel in time interval;
Z --- cable reel speed counts the number of tooth.
CN201510030977.2A 2015-01-21 2015-01-21 A kind of drawing cable length accurate measurement method and isochronous controller CN104528463B (en)

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CN105936448B (en) * 2016-07-12 2018-11-30 山东省科学院自动化研究所 A kind of emergency lighting drawing cable length-measuring appliance and method
CN106151994A (en) * 2016-07-13 2016-11-23 孙宝石 Liftable pendent lamp and lift control method regulate light fixture build-out method with accurate
CN106672808B (en) * 2016-11-29 2018-02-23 陕西中核地矿油气工程有限公司 Oil pipe length measuring device and method and pipeline assembling system
CN107323768B (en) * 2017-06-09 2019-08-27 江苏大学 A kind of done with high accuracy method of the accurate package length of cable coiling machine
CN107187960B (en) * 2017-07-06 2018-09-21 西安科技大学 Wired control robot cable winding apparatus and drawing cable method
CN110316612A (en) * 2018-11-20 2019-10-11 海南中坚实业有限公司 A kind of electric wire automation production flow line technique improved efficiency

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Application publication date: 20150422

Assignee: Shandong Automation System Engineering Co.

Assignor: Automation Inst., Shandong Prov.

Contract record no.: X2019370000010

Denomination of invention: Method for accurately measuring cable winding and unwinding length and synchronous controller

Granted publication date: 20171212

License type: Common License

Record date: 20191105

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